Combined Terrain Aided Navigation based on Correlation Method and Parallel Kalman Filters
Combined Terrain Aided Navigation based on Correlation Method and Parallel Kalman Filters
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DOI：
10.1109/icemi.2007.4350410
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发表时间：
2007-10
期刊：
影响因子：
--
通讯作者：
Jianchun Xie;Rongchun Zhao;Xia Yong
中科院分区：
文献类型：
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作者：
Jianchun Xie;Rongchun Zhao;Xia Yong
地形辅助导航（TAN）作为现代组合导航系统的重要组成部分，通过将测量的地形高度与车载数字高程图（DEM）进行比较来定位车辆的位置。然而，传统的 TAN 方法在平坦地形上飞行时无法稳定工作。本文提出了一种组合地形辅助导航（CTAN）系统，该系统将相关方法与并行卡尔曼滤波器相结合。在该系统中，利用相关法和并行卡尔曼滤波器，通过分析DEM数据和实时收集的高度测量集之间的差异来计算位置。所获得的两个位置用于校正由于地形的重复特性或测量的噪声而引起的可能的估计误差。与仅使用相关方法的TAN系统相比，仿真结果验证了所提出的系统能够显着提高导航性能。
As an important part of modern integrated navigation system, terrain aided navigation (TAN) compares measured terrain height with the onboard digital elevation map (DEM) to locate a vehicle's position. However, traditional TAN methods cannot work robustly when flying over flat terrain. This paper proposes a combined terrain aided navigation (CTAN) system, which incorporates the correlation method with the parallel Kalman filters. In this system, both the correlation method and the parallel Kalman filters are utilized to calculate the position by analyzing the difference between the DEM data and the set of height measurements, which is collected in real time. Two obtained position are used to correct the possible estimation error, caused by the repetitive characteristic of terrain or the noise of measurements. Compared with the TAN system uses only the correlation method, simulation results approve the proposed system can significantly improve the navigation performance.